Research On Robot Intelligent Grasping And Flexible Placement Technology Based On Vision And Force Sense

The rapid development of robot technology has led to the great change of modern manufacturing industry.Applying computer vision and force sensor to robot technology can provide the robot with the function of visual perception and force perception,and improve the intelligent level of robot operation.The research content of this paper is based on vision and force sense of robot intelligent grasping and flexible placement technology,which includes three systems,namely vision perception system,force perception system and robot control system.The visual perception system can realize the independent detection and positioning of various arbitrary placed objects.The force sensing system can accurately detect the contact force information between the robot end tool and the environment under low acceleration condition.The robot control system can complete the grasping operation according to the object position information obtained from the visual perception,and then complete the classification and placement of the same type and different quality objects according to the object gravity obtained from the force perception In the process of placement,the robot's flexibility is realized through mobility control,which has a good protection function for fragile and collision free objects.Based on the project of National Natural Science Foundation of Jilin University on Robotics and related topics,this paper proposes intelligent robot grasping and flexible placement technology based on vision and force sense.The main work of this paper is as follows:1.Aiming at the robot's grasping task when a variety of objects are placed arbitrarily,this paper constructs a Kinect based visual perception system,that is,an object detection and positioning system.Firstly,an SSD object detection model is established to complete the independent detection and recognition of objects.Then,through the calibration technology,the coordinates of objects in the robot's basic coordinate system are obtained.Finally,according to the object's position information,the robot communicates Through the inverse kinematics algorithm,the intelligent grasping of the object is completed.2.In order to realize the force information exchange between robot and environment,and obtain accurate force perception,a force sensing system based on six-dimensional force sensor is built in this paper.The calibration and gravity compensation algorithm of force sensor is proposed.The influence of robot base installation angle,force sensor zero point data,end tool gravity,etc.on force sensor reading is fully considered,so that robot can obtain accurate force sensor Accurate force perception information.Experiments of force sensor calibration and gravity compensation are carried out.The experimental results show that the algorithm can improve the measurement accuracy of force sensor and provide accurate force information for robot.3.In view of the robot's compliance control task,this paper proposes a robot compliance control method based on the mobility principle.By inputting the deviation between the contact force obtained by the force sensor and the expected force into the mobility control,the robot realizes the hybrid control of the force and position,carries out the force guidance teaching experiment,completes the multi-dimensional force control test of the robot,and verifies the mobility control Experimental results of the algorithm.4.In this paper,an intelligent grasping and compliant placement experimental platform based on Epson 6-DOF robot is built,and the experiments of object detection and positioning and robot grasping and placement are carried out.The experimental results show that the intelligent grasping and compliant placement technology based on vision and force sense proposed in this paper can meet the expected research requirements.